To simplify a configuration for increasing an amount of information on an observation space, taken image acquisition means of an image processing system acquires taken images that have been taken by image taking means, which is movable in a real space. Observation space information acquisition means acquires, based on changes in position of a feature point cloud in the taken images, observation space information including three-dimensional coordinates of the feature point cloud in an observation space. Machine learning means acquires, based on machine learning data on a feature of an object, additional information on a feature of a photographed object shown in the taken images. Integration means integrates the observation space information and the additional information.
Legal claims defining the scope of protection, as filed with the USPTO.
2. The image processing system according to claim 1, wherein the at least one processor is configured to partially change the mesh after changing the scale of the mesh based on the result of the comparison between the two-dimensional observation information and the two-dimensional feature amount information.
3. The image processing system according to claim 1, wherein the additional information includes information on a three-dimensional shape of the photographed object, which is estimated based on the machine learning data.
4. The image processing system according to claim 3, wherein the additional information includes information on the mesh of the photographed object.
5. The image processing system according to claim 4, wherein the at least one processor is configured to set the mesh in the observation space based on the additional information, and change the mesh based on the observation space information.
6. The image processing system according to claim 5, wherein the at least one processor is configured to change a first mesh portion of the mesh that corresponds to the three-dimensional coordinates of the feature point cloud indicated by the observation space information, and then change a second mesh portion around the first mesh portion.
8. The image processing system according to claim 5, wherein the at least one processor is configured to change scale of the mesh based on the observation space information.
9. The image processing system according to claim 3, wherein the additional information includes information on a normal of the photographed object.
10. The image processing system according to claim 3, wherein the additional information includes information on a classification of the photographed object.
Cooperative Patent Classification codes for this invention. Click any code to explore related patents in that topic.
August 14, 2017
November 8, 2022
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